/*

Alan Fortes 
cpe301
Assignment 6

The following c code runs on the ATmega328p,
which receives data from an accelerometer,
that measures x, y, and z data

*/


#define F_CPU 8000000
#include <inttypes.h>
#include <stdint.h>
#include <avr/io.h>
#include <util/delay.h>
#include <util/twi.h>
#include <avr/interrupt.h>
#include <math.h>
#include <stdio.h>


#define MPU6050_ADDRESS 0b11010000 // Address with end write bit
#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
#define MPU6050_RA_XA_OFFS_L_TC 0x07
#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
#define MPU6050_RA_YA_OFFS_L_TC 0x09
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU6050_RA_XG_OFFS_USRL 0x14
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
#define MPU6050_RA_YG_OFFS_USRL 0x16
#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
#define MPU6050_RA_ZG_OFFS_USRL 0x18
#define MPU6050_RA_SMPLRT_DIV 0x19
#define MPU6050_RA_CONFIG 0x1A
#define MPU6050_RA_GYRO_CONFIG 0x1B
#define MPU6050_RA_ACCEL_CONFIG 0x1C
#define MPU6050_RA_FF_THR 0x1D
#define MPU6050_RA_FF_DUR 0x1E
#define MPU6050_RA_MOT_THR 0x1F
#define MPU6050_RA_MOT_DUR 0x20
#define MPU6050_RA_ZRMOT_THR 0x21
#define MPU6050_RA_ZRMOT_DUR 0x22
#define MPU6050_RA_FIFO_EN 0x23
#define MPU6050_RA_I2C_MST_CTRL 0x24
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
#define MPU6050_RA_I2C_SLV0_REG 0x26
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
#define MPU6050_RA_I2C_SLV1_REG 0x29
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
#define MPU6050_RA_I2C_SLV2_REG 0x2C
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
#define MPU6050_RA_I2C_SLV3_REG 0x2F
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
#define MPU6050_RA_I2C_SLV4_REG 0x32
#define MPU6050_RA_I2C_SLV4_DO 0x33
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
#define MPU6050_RA_I2C_SLV4_DI 0x35
#define MPU6050_RA_I2C_MST_STATUS 0x36
#define MPU6050_RA_INT_PIN_CFG 0x37
#define MPU6050_RA_INT_ENABLE 0x38
#define MPU6050_RA_DMP_INT_STATUS 0x39
#define MPU6050_RA_INT_STATUS 0x3A
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
#define MPU6050_RA_TEMP_OUT_H 0x41
#define MPU6050_RA_TEMP_OUT_L 0x42
#define MPU6050_RA_GYRO_XOUT_H 0x43
#define MPU6050_RA_GYRO_XOUT_L 0x44
#define MPU6050_RA_GYRO_YOUT_H 0x45
#define MPU6050_RA_GYRO_YOUT_L 0x46
#define MPU6050_RA_GYRO_ZOUT_H 0x47
#define MPU6050_RA_GYRO_ZOUT_L 0x48
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
#define MPU6050_RA_I2C_SLV0_DO 0x63
#define MPU6050_RA_I2C_SLV1_DO 0x64
#define MPU6050_RA_I2C_SLV2_DO 0x65
#define MPU6050_RA_I2C_SLV3_DO 0x66
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
#define MPU6050_RA_USER_CTRL 0x6A
#define MPU6050_RA_PWR_MGMT_1 0x6B
#define MPU6050_RA_PWR_MGMT_2 0x6C
#define MPU6050_RA_BANK_SEL 0x6D
#define MPU6050_RA_MEM_START_ADDR 0x6E
#define MPU6050_RA_MEM_R_W 0x6F
#define MPU6050_RA_DMP_CFG_1 0x70
#define MPU6050_RA_DMP_CFG_2 0x71
#define MPU6050_RA_FIFO_COUNTH 0x72
#define MPU6050_RA_FIFO_COUNTL 0x73
#define MPU6050_RA_FIFO_R_W 0x74
#define MPU6050_RA_WHO_AM_I 0x75
#define SCL_CLOCK  200000
#define I2C_READ    1
#define I2C_WRITE    0
int16_t accel_buff[3], gyro_buff[3];

void printStringToScreen(char *sentence){
	
	while ((*sentence !='\0')){ // While the end of the sentence hasn't been reached
		// the output string will be displayed, character by character.
		
		while(!(UCSR0A&(1<<UDRE0)));
		
		UDR0 = *sentence;
		
		sentence++; // The position of next character of the output string is gotten.
	}
	
}

void i2c_stop(){
	char outputString2[999];
	TWCR = (1<<TWINT)|(1<<TWEN)|(1<TWSTO);	
	snprintf(outputString2,sizeof(outputString2), "Stop sequence set: %3x\r\n\n", TWSR);
	printStringToScreen(outputString2);
	_delay_ms(1500);
}

//***********************************************************
void i2c_start(unsigned char address)
{
	char outputString2[999];
	
	TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);

	while(!(TWCR & (1<<TWINT)));
	
	snprintf(outputString2,sizeof(outputString2), "Start sequence for MPU initialization: %3x\r\n\n", TWSR);
	printStringToScreen(outputString2);
	_delay_ms(1500);
	
	// check value of TWI Status Register. Mask prescaler bits.
	TWDR = address;
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	snprintf(outputString2,sizeof(outputString2), "MPU device write address set: %3x\r\n\n", TWSR);
	printStringToScreen(outputString2);
	_delay_ms(1500);

	}/* i2c_start */

//***********************************************************


void i2c_write( unsigned char data )
{

	char outputString2[999];
	// send data to the previously addressed device
	TWDR = data;
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));

	snprintf(outputString2,sizeof(outputString2), "MPU register/data written: %3x\r\n\n", TWSR);
	printStringToScreen(outputString2);
	_delay_ms(1500);

	}/* i2c_write */	
	
void i2c_write_byte(uint8_t dev_addr, uint8_t reg_addr, uint8_t data){
	
	i2c_start(dev_addr+I2C_WRITE);
	i2c_write(reg_addr);
	i2c_write(data);
	i2c_stop();

}

void mpu6050_init(void){
	
	i2c_write_byte(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x00); //exit sleep mode
	i2c_write_byte(MPU6050_ADDRESS, MPU6050_RA_CONFIG, 0x00); // LPF, bandwidth = 184(accel) and 188(gyro)
	i2c_write_byte(MPU6050_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0x00); // gyro ADC scale: 1000 deg/s
	i2c_write_byte(MPU6050_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0x00); //accel ADC scale: 2 g
	i2c_write_byte(MPU6050_ADDRESS, MPU6050_RA_INT_ENABLE, 0x00); //enable data ready interrupt
	i2c_write_byte(MPU6050_ADDRESS, MPU6050_RA_SIGNAL_PATH_RESET, 0x00); //don't reset signal path

}



 

//***********************************************************


//***********************************************************




void i2c_start_wait(unsigned char address){
		 
		TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
		while(!(TWCR & (1<<TWINT)));
		TWDR = address;
		TWCR = (1<<TWINT) | (1<<TWEN);
		char outputString2[999];
		snprintf(outputString2,sizeof(outputString2), "X gyro value :%3x\r\n\n", TWSR);
		printStringToScreen(outputString2);
		_delay_ms(500);
	
		
	

	}/* i2c_start_wait */

void i2c_clock_init(void){
	
	TWSR = 0;
	//set prescaler bits to 0
	TWBR = 32;
}

void uart_init(){
	
	DDRD = 0xFF;
	ADCSRA = 0x82;
	ADMUX = 0x00;
	UCSR0B = 0x08;
	UCSR0C = 0x06;
	UBRR0 = 0x0033;
}


void wakeup(void){
	
TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString), "Getting device out of sleep mode\r\n\n");
//printStringToScreen(outputString);
_delay_ms(500);

// Write sequence: MPU6050 address

TWDR = 0xD0;
TWCR = (1<<TWINT) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString), " ");
//printStringToScreen(outputString);
//_delay_ms(1500);

// Accessing desired register
//y++;// y = 3
TWDR = MPU6050_RA_PWR_MGMT_1;
TWCR = (1<<TWINT) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString)," ");
//printStringToScreen(outputString);
//_delay_ms(1500);

TWDR = 0;
TWCR = (1<<TWINT) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString)," ");
//printStringToScreen(outputString);
}

void initialize(void){

TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString), "module initialization\r\n\n");
//printStringToScreen(outputString);
_delay_ms(500);

// Write sequence: MPU6050 address

TWDR = 0xD0;
TWCR = (1<<TWINT) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString), " ");
//printStringToScreen(outputString);
//_delay_ms(1500);

// Accessing desired register

TWDR = MPU6050_RA_CONFIG;
TWCR = (1<<TWINT) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString)," ");
//printStringToScreen(outputString);
//_delay_ms(1500);

TWDR = 1;
TWCR = (1<<TWINT) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString)," ");
//printStringToScreen(outputString);
//_delay_ms(1500);





}



void initializeAccel(void){

	TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), "module initialization\r\n\n");
	//printStringToScreen(outputString);
	_delay_ms(500);

	// Write sequence: MPU6050 address

	TWDR = 0xD0;
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	//_delay_ms(1500);

	// Accessing desired register

	TWDR = MPU6050_RA_ACCEL_CONFIG;
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString)," ");
	//printStringToScreen(outputString);
	//_delay_ms(1500);

	TWDR = 0;
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString)," ");
	//printStringToScreen(outputString);
	//_delay_ms(1500);
	TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
	///////////////////////

	/********************************************************************/
	TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), "Getting device out of sleep mode\r\n\n");
	//printStringToScreen(outputString);
	_delay_ms(500);

}

void initializeGyro(void){

TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString), "module initialization\r\n\n");
//printStringToScreen(outputString);
_delay_ms(500);

// Write sequence: MPU6050 address

TWDR = 0xD0;
TWCR = (1<<TWINT) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString), " ");
//printStringToScreen(outputString);
//_delay_ms(1500);

// Accessing desired register

TWDR = MPU6050_RA_CONFIG;
TWCR = (1<<TWINT) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString)," ");
//printStringToScreen(outputString);
//_delay_ms(1500);

TWDR = 1<<4;
TWCR = (1<<TWINT) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString)," ");
//printStringToScreen(outputString);
//_delay_ms(1500);
TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
///////////////////////

/********************************************************************/
TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
while(!(TWCR & (1<<TWINT)));
//snprintf(outputString,sizeof(outputString), "Getting device out of sleep mode\r\n\n");
//printStringToScreen(outputString);	

}


int getX(void){
	
	char outputString[999];
	int16_t x;
	uint8_t tmp[2];
	int y = 0;
	
		y++; // y = 1
		TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
		while(!(TWCR & (1<<TWINT)));
		//snprintf(outputString,sizeof(outputString), " ");
		//printStringToScreen(outputString);
		_delay_ms(10);
		
		// Write sequence: MPU6050 address
		y++;// y = 2
		TWDR = 0xD0;
		TWCR = (1<<TWINT) | (1<<TWEN);
		while(!(TWCR & (1<<TWINT)));
		//snprintf(outputString,sizeof(outputString), " ");
		//printStringToScreen(outputString);
		_delay_ms(10);
		
		// Accessing desired register
		y++;// y = 3
		TWDR = 0x3c;
		TWCR = (1<<TWINT) | (1<<TWEN);
		while(!(TWCR & (1<<TWINT)));
		//snprintf(outputString,sizeof(outputString)," ");
		//printStringToScreen(outputString);
		_delay_ms(10);
		
		// Stop writing
		y++;// y = 4
		TWCR = (1<<TWINT)|(1<<TWEN)|(1<TWSTO);
		
		//snprintf(outputString,sizeof(outputString), " ");
		//printStringToScreen(outputString);
		_delay_ms(10);
		
		// Read Start sequence
		y++;// y = 5
		TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
		while(!(TWCR & (1<<TWINT)));
		//snprintf(outputString,sizeof(outputString), " ");
		//printStringToScreen(outputString);
		_delay_ms(10);
		
		// Read sequence: MPU6050 address
		y++;//y = 6
		TWDR = 0xD1;
		TWCR = (1<<TWINT) | (1<<TWEN);
		while(!(TWCR & (1<<TWINT)));
		//snprintf(outputString,sizeof(outputString), " ");
		//printStringToScreen(outputString);
		_delay_ms(10);
		
		// Read sequence: MPU6050 address
		y++;//7
		TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA);
		while(!(TWCR & (1<<TWINT)));
		snprintf(outputString,sizeof(outputString), " ");
		printStringToScreen(outputString);
		//_delay_ms(1500);
		tmp[0] = TWDR;
		
		TWCR = (1<<TWINT) | (1<<TWEN);
		while(!(TWCR & (1<<TWINT)));
		//snprintf(outputString,sizeof(outputString), " ");
		//printStringToScreen(outputString);
		//_delay_ms(1500);
		tmp[1] = TWDR;
		
		
		x = (tmp[0]<<8)|(tmp[1]);
		
		TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
		return x;
		// Read sequence: MPU6050 address

		_delay_ms(10);
	
	
}

int getY(void){
	
	char outputString[999];
	int16_t x;
	uint8_t tmp[2];
	int y = 0;
	
	y++; // y = 1
	TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Write sequence: MPU6050 address
	y++;// y = 2
	TWDR = 0xD0;
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Accessing desired register
	y++;// y = 3
	TWDR = 0x3e;
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString)," ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Stop writing
	y++;// y = 4
	TWCR = (1<<TWINT)|(1<<TWEN)|(1<TWSTO);
	
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Read Start sequence
	y++;// y = 5
	TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Read sequence: MPU6050 address
	y++;//y = 6
	TWDR = 0xD1;
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Read sequence: MPU6050 address
	y++;//7
	TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA);
	while(!(TWCR & (1<<TWINT)));
	snprintf(outputString,sizeof(outputString), " ");
	printStringToScreen(outputString);
	//_delay_ms(1500);
	tmp[0] = TWDR;
	
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	//_delay_ms(1500);
	tmp[1] = TWDR;
	
	
	x = (tmp[0]<<8)|(tmp[1]);
	
	TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
	return x;
	// Read sequence: MPU6050 address

	_delay_ms(10);
}

int getZ(void){
	
	char outputString[999];
	int16_t x;
	uint8_t tmp[2];
	int y = 0;
	
	y++; // y = 1
	TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Write sequence: MPU6050 address
	y++;// y = 2
	TWDR = 0xD0;
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Accessing desired register
	y++;// y = 3
	TWDR = 0x3e;
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString)," ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Stop writing
	y++;// y = 4
	TWCR = (1<<TWINT)|(1<<TWEN)|(1<TWSTO);
	
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Read Start sequence
	y++;// y = 5
	TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Read sequence: MPU6050 address
	y++;//y = 6
	TWDR = 0xD1;
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	_delay_ms(10);
	
	// Read sequence: MPU6050 address
	y++;//7
	TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA);
	while(!(TWCR & (1<<TWINT)));
	snprintf(outputString,sizeof(outputString), " ");
	printStringToScreen(outputString);
	//_delay_ms(1500);
	tmp[0] = TWDR;
	
	TWCR = (1<<TWINT) | (1<<TWEN);
	while(!(TWCR & (1<<TWINT)));
	//snprintf(outputString,sizeof(outputString), " ");
	//printStringToScreen(outputString);
	//_delay_ms(1500);
	tmp[1] = TWDR;
	
	
	x = (tmp[0]<<8)|(tmp[1]);
	
	TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
	return x;
	// Read sequence: MPU6050 address

	_delay_ms(10);
}

int main(void){
char outputString[999];
	int x;
	int y;
	int z;
	
	uart_init();
	
	//The device is put through the proper steps for
	//getting out of sleep mode and initialization.
	wakeup();
	initialize();
	initializeGyro();
	initializeAccel();

	
	while(1){
	
	x =	getX(); //The value of the x axis accelerometer is obtained.
	y =	getY();	//The value of the y axis accelerometer is obtained.		
	z = getZ();	

	
	

				snprintf(outputString,sizeof(outputString), "%3d, %3d, %3d\r\n\n", x, y, z);
				printStringToScreen(outputString);
	
	
	}
	


}